Stock Based Incentive Compensation Plans - Summary of Activity for Stock Options (Details) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares
Stock options with service conditions
Shares
Outstanding at beginning of year (in shares) | shares	3,396,539
Granted (in shares) | shares	687,027
Exercised (in shares) | shares	(7,170)
Forfeited or expired (in shares) | shares	(199,418)
Outstanding at end of year (in shares) | shares	3,876,978
Vested or expected to vest at end of year (in shares) | shares	3,725,100
Exercisable at end of year (in shares) | shares	2,752,896
Weighted-Average Exercise Price
Outstanding at beginning of year (in dollars per share) | $ / shares	$ 58.36
Granted (in dollars per share) | $ / shares	33.90
Exercised (in dollars per share) | $ / shares	29.54
Forfeited or expired (in dollars per share) | $ / shares	54.14
Outstanding at end of year (in dollars per share) | $ / shares	54.30
Vested or expected to vest at end of year (in dollars per share) | $ / shares	54.65
Exercisable at end of year (in dollars per share) | $ / shares	$ 59.57
Weighted-Average Remaining Contractual Term
Outstanding at end of year	5 years 8 months 15 days
Vested or expected to vest at end of year	5 years 7 months 2 days
Exercisable at end of year	4 years 5 months 8 days
Aggregate Intrinsic Value
Outstanding at end of year | $	$ 0
Vested or expected to vest at end of year | $	0
Exercisable at end of year | $	$ 0
Stock options with performance conditions
Shares
Outstanding at beginning of year (in shares) | shares	121,397
Granted (in shares) | shares	24,496
Forfeited or expired (in shares) | shares	(33,356)
Outstanding at end of year (in shares) | shares	112,537
Vested or expected to vest at end of year (in shares) | shares	107,553
Exercisable at end of year (in shares) | shares	95,924
Weighted-Average Exercise Price
Outstanding at beginning of year (in dollars per share) | $ / shares	$ 57.55
Granted (in dollars per share) | $ / shares	25.66
Forfeited or expired (in dollars per share) | $ / shares	73.99
Outstanding at end of year (in dollars per share) | $ / shares	45.73
Vested or expected to vest at end of year (in dollars per share) | $ / shares	45.92
Exercisable at end of year (in dollars per share) | $ / shares	$ 46.41
Weighted-Average Remaining Contractual Term
Outstanding at end of year	2 years 4 months 9 days
Vested or expected to vest at end of year	2 years 3 months 18 days
Exercisable at end of year	2 years 1 month 13 days
Aggregate Intrinsic Value
Outstanding at end of year | $	$ 0
Vested or expected to vest at end of year | $	0
Exercisable at end of year | $	$ 0